/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * File Name          : freertos.c
  * Description        : Code for freertos applications
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; Copyright (c) 2022 STMicroelectronics.
  * All rights reserved.</center></h2>
  *
  * This software component is licensed by ST under Ultimate Liberty license
  * SLA0044, the "License"; You may not use this file except in compliance with
  * the License. You may obtain a copy of the License at:
  *                             www.st.com/SLA0044
  *
  ******************************************************************************
  */
/* USER CODE END Header */

/* Includes ------------------------------------------------------------------*/
#include "FreeRTOS.h"
#include "task.h"
#include "main.h"
#include "cmsis_os.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "BSP_USART.h"
#include "gpio.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN Variables */

/* USER CODE END Variables */
osThreadId defaultTaskHandle;
osThreadId myKeyScanTaskHandle;
osThreadId myDebugTaskHandle;
osMessageQId myDebugQueueHandle;

/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN FunctionPrototypes */

/* USER CODE END FunctionPrototypes */

void StartDefaultTask(void const * argument);
void KeyScanTask(void const * argument);
void DebugTask(void const * argument);

void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */

/* GetIdleTaskMemory prototype (linked to static allocation support) */
void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize );

/* USER CODE BEGIN GET_IDLE_TASK_MEMORY */
static StaticTask_t xIdleTaskTCBBuffer;
static StackType_t xIdleStack[configMINIMAL_STACK_SIZE];

void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize )
{
  *ppxIdleTaskTCBBuffer = &xIdleTaskTCBBuffer;
  *ppxIdleTaskStackBuffer = &xIdleStack[0];
  *pulIdleTaskStackSize = configMINIMAL_STACK_SIZE;
  /* place for user code */
}
/* USER CODE END GET_IDLE_TASK_MEMORY */

/**
  * @brief  FreeRTOS initialization
  * @param  None
  * @retval None
  */
void MX_FREERTOS_Init(void) {
  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* USER CODE BEGIN RTOS_MUTEX */
  /* add mutexes, ... */
  /* USER CODE END RTOS_MUTEX */

  /* USER CODE BEGIN RTOS_SEMAPHORES */
  /* add semaphores, ... */
  /* USER CODE END RTOS_SEMAPHORES */

  /* USER CODE BEGIN RTOS_TIMERS */
  /* start timers, add new ones, ... */
  /* USER CODE END RTOS_TIMERS */

  /* Create the queue(s) */
  /* definition and creation of myDebugQueue */
  osMessageQDef(myDebugQueue, 16, uint16_t);
  myDebugQueueHandle = osMessageCreate(osMessageQ(myDebugQueue), NULL);

  /* USER CODE BEGIN RTOS_QUEUES */
  /* add queues, ... */
  /* USER CODE END RTOS_QUEUES */

  /* Create the thread(s) */
  /* definition and creation of defaultTask */
  osThreadDef(defaultTask, StartDefaultTask, osPriorityNormal, 0, 256);
  defaultTaskHandle = osThreadCreate(osThread(defaultTask), NULL);

  /* definition and creation of myKeyScanTask */
  osThreadDef(myKeyScanTask, KeyScanTask, osPriorityNormal, 0, 256);
  myKeyScanTaskHandle = osThreadCreate(osThread(myKeyScanTask), NULL);

  /* definition and creation of myDebugTask */
  osThreadDef(myDebugTask, DebugTask, osPriorityNormal, 0, 256);
  myDebugTaskHandle = osThreadCreate(osThread(myDebugTask), NULL);

  /* USER CODE BEGIN RTOS_THREADS */
  /* add threads, ... */
  USART1_IT_Init();
  /* USER CODE END RTOS_THREADS */

}

/* USER CODE BEGIN Header_StartDefaultTask */
/**
  * @brief  Function implementing the defaultTask thread.
  * @param  argument: Not used
  * @retval None
  */
/* USER CODE END Header_StartDefaultTask */
void StartDefaultTask(void const * argument)
{
  /* USER CODE BEGIN StartDefaultTask */
  /* Infinite loop */
  for(;;)
  {
    osDelay(100);
  }
  /* USER CODE END StartDefaultTask */
}

/* USER CODE BEGIN Header_KeyScanTask */
/**
* @brief Function implementing the myKeyScanTask thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_KeyScanTask */
void KeyScanTask(void const * argument)
{
    E_KEY_LIST key = NONE_KEY;
  /* USER CODE BEGIN KeyScanTask */
  /* Infinite loop */
  for(;;)
  {
      key = Key_Scan();
      if(key == PWR_KEY){
            
      }
      else if(key == RM2006_LEFT_KEY){
            char pbuf[] = "AT+SET_MOTOR_SP1=+0500";
          send_data_dma_u1((uint8_t*)pbuf,sizeof(pbuf));
      }
      else if(key == RM2006_RIGHT_KEY){
            char pbuf[] = "AT+SET_MOTOR_SP1=-0500";
            send_data_dma_u1((uint8_t*)pbuf,sizeof(pbuf));
      }
      else if(key == DCMOTOR_CW_KEY){
            char pbuf[] = "AT+SET_MOTOR_SP2=+0500";
            send_data_dma_u1((uint8_t*)pbuf,sizeof(pbuf));
      }
      else if(key == DCMOTOR_CCW_KEY){
            char pbuf[] = "AT+SET_MOTOR_SP2=-0500";
            send_data_dma_u1((uint8_t*)pbuf,sizeof(pbuf));
      }
      else{//stop!!
            char pbuf[] = "AT+SET_MOTOR_SP1=+0000";
            send_data_dma_u1((uint8_t*)pbuf,sizeof(pbuf));
            osDelay(50);
            char pbuf1[] = "AT+SET_MOTOR_SP2=+0000";
            send_data_dma_u1((uint8_t*)pbuf1,sizeof(pbuf1));
      }
      osDelay(100);
  }
  /* USER CODE END KeyScanTask */
}

/* USER CODE BEGIN Header_DebugTask */
/**
* @brief Function implementing the myDebugTask thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_DebugTask */
void DebugTask(void const * argument)
{
  /* USER CODE BEGIN DebugTask */
  /* Infinite loop */
  for(;;)
  {
    osDelay(100);
  }
  /* USER CODE END DebugTask */
}

/* Private application code --------------------------------------------------*/
/* USER CODE BEGIN Application */

/* USER CODE END Application */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
